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PID DISCRETO
Dependencies: mbed QEI TextLCD DebouncedIn
main.cpp
- Committer:
- demo71
- Date:
- 2015-09-28
- Revision:
- 0:694446246c35
- Child:
- 1:f0fa90a6fb6e
File content as of revision 0:694446246c35:
// Hello World! for the TextLCD #include "mbed.h" #include "stdio.h" #include "TextLCD.h" #include "DebouncedIn.h" //Declaracion de entradas y salidas DebouncedIn Boton1(PTE20); //Selector DebouncedIn Boton2(PTE21); //Aumento DebouncedIn Boton3(PTE22); //Disminuye DebouncedIn Boton4(PTE23); //Confirma PwmOut control(PTE29); AnalogIn vcond(PTB0); TextLCD lcd(PTB8,PTB9,PTB10,PTB11,PTE2,PTE3); // rs, e, d4-d7 //codigos movimiento del cursor LCD int C2=0x18; // desplaza izquierda int C3=0x1A; // desplaza derecha int C4=0x0C; // quito cursor bajo int C1=0x0F; // solo muestra el cursor int Kp=0,Ki=0,Kd=0,Sp=0,p,i; float rT,eT,iT,dT,yT,uT,iT0=0,eT0=0,iT_1=0,eT_1=0; Timer tu; Timer td; int main() { lcd.cls(); //escribimos un comando segun el manual del modulo LCD lcd.locate(1,0); lcd.printf("Kp=%d",Kp); lcd.locate(9,0); lcd.printf("Ki%d=",Ki); lcd.locate(1,1); lcd.printf("Kd=%d",Kd); lcd.locate(9,1); lcd.printf("Sp=%d",Sp); set_Kp: lcd.cls(); lcd.locate(0,0); lcd.printf(">Kp= "); lcd.locate(9,0); lcd.printf("Ki=%d",Ki); lcd.locate(1,1); lcd.printf("Kd=%d",Kd); lcd.locate(9,1); lcd.printf("Sp=%d",Sp); //Kp=0; while(1){ if(Boton2.falling()){ Kp++; tu.start(); } //AUMENTO*10 ************** if(Boton2.rising()){ tu.stop(); tu.reset(); } if(tu.read()>=2.0 && tu.read()<4.0){ Kp=Kp+10; wait(0.3); } else if(tu.read()>=4.0){ Kp=Kp+100; wait(0.3); } //************************* if(Boton3.falling()){ Kp--; td.start(); } //DISMINUYE*10 ************** if(Boton3.rising()){ td.stop(); td.reset(); } if(td.read()>=2.0 && td.read()<4.0){ Kp=Kp-10; wait(0.3); } else if(td.read()>=4.0){ Kp=Kp-100; wait(0.3); } //************************* if(Kp>=999){ Kp=999; } else if (Kp<=0){ Kp=0; } lcd.locate(0,0); lcd.printf(">Kp=%d ",Kp); if(Boton1.falling()){ goto set_Ki; } if(Boton4.falling()){ goto PID; } } set_Ki: lcd.cls(); lcd.locate(8,0); lcd.printf(">Ki= "); lcd.locate(1,0); lcd.printf("Kp=%d",Kp); lcd.locate(1,1); lcd.printf("Kd=%d",Kd); lcd.locate(9,1); lcd.printf("Sp=%d",Sp); //Ki=0; while(1){ if(Boton2.falling()){ Ki++; tu.start(); } //AUMENTO*10 ************** if(Boton2.rising()){ tu.stop(); tu.reset(); } if(tu.read()>=2.0 && tu.read()<4.0){ Ki=Ki+10; wait(0.3); } else if(tu.read()>=4.0){ Ki=Ki+100; wait(0.3); } //************************* if(Boton3.falling()){ Ki--; td.start(); } //DISMINUYE*10 ************** if(Boton3.rising()){ td.stop(); td.reset(); } if(td.read()>=2.0 && td.read()<4.0){ Ki=Ki-10; wait(0.3); } else if(td.read()>=4.0){ Ki=Ki-100; wait(0.3); } //************************* if(Ki>=999){ Ki=999; } else if (Ki<=0){ Ki=0; } lcd.locate(8,0); lcd.printf(">Ki=%d ",Ki); if(Boton1.falling()){ goto set_Kd; } if(Boton4.falling()){ goto PID; } } set_Kd: lcd.cls(); lcd.locate(0,1); lcd.printf(">Kd= "); lcd.locate(1,0); lcd.printf("Kp=%d",Kp); lcd.locate(9,0); lcd.printf("Ki=%d",Ki); lcd.locate(9,1); lcd.printf("Sp=%d",Sp); //Kd=0; while(1){ if(Boton2.falling()){ Kd++; tu.start(); } //AUMENTO*10 ************** if(Boton2.rising()){ tu.stop(); tu.reset(); } if(tu.read()>=2.0 && tu.read()<4.0){ Kd=Kd+10; wait(0.3); } else if(tu.read()>=4.0){ Kd=Kd+100; wait(0.3); } //************************* if(Boton3.falling()){ Kd--; td.start(); } //DISMINUYE*10 ************** if(Boton3.rising()){ td.stop(); td.reset(); } if(td.read()>=2.0 && td.read()<4.0){ Kd=Kd-10; wait(0.3); } else if(td.read()>=4.0){ Kd=Kd-100; wait(0.3); } //************************* if(Kd>=999){ Kd=999; } else if (Kd<=0){ Kd=0; } lcd.locate(0,1); lcd.printf(">Kd=%d ",Kd); if(Boton1.falling()){ goto set_Sp; } if(Boton4.falling()){ goto PID; } } set_Sp: lcd.cls(); lcd.locate(8,1); lcd.printf(">Sp= "); lcd.locate(1,0); lcd.printf("Kp=%d",Kp); lcd.locate(9,0); lcd.printf("Ki=%d",Ki); lcd.locate(1,1); lcd.printf("Kd=%d",Kd); //Sp=0; while(1){ if(Boton2.falling()){ Sp++; tu.start(); } //AUMENTO*10 ************** if(Boton2.rising()){ tu.stop(); tu.reset(); } if(tu.read()>=2.0 && tu.read()<4.0){ Sp=Sp+10; wait(0.3); } else if(tu.read()>=4.0){ Sp=Sp+100; wait(0.3); } //************************* if(Boton3.falling()){ Sp--; td.start(); } //DISMINUYE*10 ************** if(Boton3.rising()){ td.stop(); td.reset(); } if(td.read()>=2.0 && td.read()<4.0){ Sp=Sp-10; wait(0.3); } else if(td.read()>=4.0){ Sp=Sp-100; wait(0.3); } //************************* if(Sp>=999){ Sp=999; } else if (Sp<=0){ Sp=0; } lcd.locate(8,1); lcd.printf(">Sp=%d ",Sp); if(Boton1.falling()){ goto set_Kp; } if(Boton4.falling()){ goto PID; } } PID: lcd.cls(); //Sp=2; //Kp=(float)12.105; //Ki=(float)5.32; //Kd=(float)2; while(1){ yT=vcond.read()*3.3; eT=Sp-yT; iT=Ki*eT+iT0; //Accion Integral dT=Kd*(eT-eT0); //Accion Derivativa uT=iT+Kp*eT+dT; if (uT>3.3) { //Salida PID si es mayor que el MAX uT=3.3;} else if (uT<0){ //Salida PID si es menor que el MIN uT=0; } iT0=iT; //Guardar variables eT0=eT; control=(float)uT/3.3; lcd.locate(0,0); lcd.printf("Error=%.2f ",eT); lcd.locate(0,1); lcd.printf("Y_act=%.2f",yT); wait(0.2); } //lcd.locate(3,0); //lcd.writeCommand(C1); }